Hydraulic excavator
A hydraulic actuator includes a control valve unit that controls a flow of a hydraulic fluid supplied from a hydraulic pump to a plurality of hydraulic actuators, a plurality of control lever devices that output a pilot pressure actuating the control valve unit, with use of a discharged pressure from a pilot pump as a source pressure, a solenoid valve unit including a plurality of solenoid pressure reducing valves connected between the plurality of control lever devices and the control valve unit, and a controller configured to calculate velocity limits for the plurality of hydraulic actuators on the basis of signals from a plurality of posture sensors and control openings of the solenoid pressure reducing valves, in which the controller is configured to control the openings of the solenoid pressure reducing valves for arm crowding and arm dumping to be larger than an opening based on the velocity limits while a boom raising operation signal is being output from the control lever devices.
1. A hydraulic excavator comprising:
a multi-joint work implement including a boom and an arm;
a plurality of hydraulic actuators that actuate the work implement, the hydraulic actuators including a boom cylinder for actuating the boom;
a plurality of posture sensors that detect a posture of the work implement;
a hydraulic pump that discharges a hydraulic fluid actuating the plurality of hydraulic actuators;
a control valve unit that controls a flow of the hydraulic fluid supplied from the hydraulic pump to the plurality of hydraulic actuators;
a plurality of control lever devices that output a pilot pressure actuating the control valve unit, with use of a discharged pressure from a pilot pump as a source pressure;
a solenoid valve unit including a plurality of solenoid pressure reducing valves connected between the plurality of control lever devices and the control valve unit; and
a controller including a machine control function to calculate velocity limits for the plurality of hydraulic actuators on a basis of signals from the plurality of posture sensors and control openings of the solenoid pressure reducing valves to prevent the work implement from excavating soil beyond a target excavation surface on a basis of the velocity limits,
wherein the controller is configured to control the solenoid pressure reducing valves to ease the velocity limits of arm crowding and arm dumping actions while a boom raising operation signal is being output from the control lever devices, while the machine control function is being performed.
2. The hydraulic excavator according to claim 1 ,
wherein the controller is configured to control the opening of the solenoid pressure reducing valve that corresponds to a boom lowering action to be larger than the opening based on the velocity limits when the controller is configured to control the openings of the solenoid pressure reducing valves that correspond to the arm crowding and arm dumping actions to be larger than the opening based on the velocity limits.
3. The hydraulic excavator according to claim 1 ,
wherein the controller is configured to control the solenoid pressure reducing valves that correspond to the arm crowding and arm dumping actions to increase their openings while the boom raising operation signal is being output from the control lever devices.
4. The hydraulic excavator according to claim 3 ,
wherein the controller is configured to control the openings of the solenoid pressure reducing valves that correspond to the arm crowding and arm dumping actions to decrease monotonously after stopping of the boom raising operation, and to return to the opening based on the velocity limits in a predetermined time after the stopping of boom raising operation.